Design Approach Of Constraint Metamorphic Mechanism Based On Tasks

The traditional mechanism theory is based on a fixed effective components and kinematic vices, therefore the number of DOF of mechanism is unchanged. While metamorhpic mechanism is a class of mechanism that can transformation form from one topology to another topology, and its effective components and the number of DOF will be changed in the transformation process. Currently, the scholars mainly research on metamorphic mechnism’s topology representation and the transform aspects of configuration, but there is no special studies on metamorphic pairs’ form of constraint and concrete structure of metamorphic mechanism.Getting metamorphic pairs’form of constraint and concrete structure are the foundation of practical metamorphic mechnism design. Therefore, to establish an appropriate design method and theory, to provide specific design steps for metamorphic mechanism design have theoretical signification and practical value.This article, elaborated configuration synthesis problems of two and three constraint metamorphic configurations to build appropriate design way of constraint metamorphic mechanism. The main contents are as following:(1) According to the different constraint forms of metamorphic joints, the typical metamorphic joints be classified, and discuss the binding characteristic curves of all kinds of metamorphic joints. We conducted the structural design and analysis of metamorphic joints, elaborating the movement principle of metamorphic joints in the action of whole process.(2) Bsed on the equivalent resistance gradient theoretical model of entire process of metamorphic vices.Giving the relationship in the constraint characteristics of typical metamorphic vices, equivalent resistance and structure.(3) Giving the design approach of constraint metamorphic mechanism based on tasks. A new topology matrix is introduced to descrip topological structure of mechanism.Proposed the process of configuration synthesis with two constraint metamorphic pairs and three constraint metamorphic pairs.(4) Using origami mechanism, shear and material transport mechanism to carry out configuration synthesis and getting all the configurations, to verify the feasibility of this design method.